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REVIEW ARTICLES

Control of Machine Tools and Robots

[+] Author and Article Information
Yoram Koren

University of Michigan and Industrial Technology Institute, Ann Arbor MI

Appl. Mech. Rev 39(9), 1331-1338 (Sep 01, 1986) (8 pages) doi:10.1115/1.3149522 History: Online June 12, 2009

Abstract

The principal control structure of CNC machine tools and industrial robots is similar, since in both systems each axis of motion is separately controlled with a position feedback loop. Nevertheless, the control of robots is more complex, since they include more degrees of freedom and the motion of each joint is not independent of other joints. This paper compares the conventional control schemes of both systems, and summarizes recent developments in adaptive control of machine tools and robots.

Copyright © 1986 by American Society of Mechanical Engineers
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